Sliding surface vehicle envelope control: A cooperative design between controller and envelope

Bobier, Carrie G.; Gerdes, J. Christian

doi:10.1109/acc.2012.6314951

Cited by 4 publications

(4 citation statements)

References 10 publications

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“…7 describes the isoclines of the yaw acceleration at different steer angles with a x = 0, V x = 11m/s. The isoclines of state derivatives are the lines in which the state derivatives are constant in the phase plane [2]. The seven lines in the figure represent the isoclines of different yaw accelerations.…”

Section: The Yaw Acceleration Isoclines and Sideslip Rate Isoclinesmentioning

confidence: 99%

Vehicle Steady Drifting Control with Safety Boundary Constraints

Song

Hua²,

Zhuang

et al. 2023

Preprint

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The study on active safety motion control of automobiles is not only of great significance to the protection of people's lives and properties, but also of great significance to the development of unmanned driving technology under extreme conditions. Drifting maneuver suggests that the vehicle remains controllable when tires are at high slip conditions. Therefore, the research of drift control is helpful to achieve the active safety motion control of automobiles under extreme conditions. This paper focuses the steady drifting control with safety boundary constraints. The nonlinear 3-DOF vehicle model, the energy phase plane, the yaw acceleration isoclines, and sideslip rate isoclines are used to define the safety boundaries for steady drifting. ILQR algorithm are used for steady drifting control with safety boundary constraints. The simulation results suggests controller can better limit the yaw rate within the constraint boundary, compared with the controller without state boundary constraints.

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Section: The Yaw Acceleration Isoclines and Sideslip Rate Isoclinesmentioning

confidence: 99%

Vehicle Steady Drifting Control with Safety Boundary Constraints

Song

Hua²,

Zhuang

et al. 2023

Preprint

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“…Here

{\dot{v}}_{y} = 0

and

\dot{ω} = 0

. The ideal yaw angular velocity

ω_{1}

is given in (12) and ideal mass‐centroid sideslip angle

β_{1}

is obtained as follows [37]

β_{1} = (][, \frac{b}{L_{1} ()(, 1 + K v_{x}^{2})} + \frac{m a v_{x}^{2}}{k_{2} L_{1}^{2} (1 + K v_{x}^{2})}) δ_{f}

where

K = false(m / L_{1}^{2} false) ()(, false(b / v_{x}^{2} false) + false(m a / k_{r} L_{1} false))

is the stability factor.…”

Section: Control System Designmentioning

confidence: 99%

Lane‐keeping control based on an improved artificial potential method and coordination of steering/braking systems

Wang

Zhang

2019

IET Intelligent Transport Systems

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“…Simulations of the vehicle motion were also attained on the basis of road experiments. Nevertheless, in many papers (see, for example, the papers by Doumiati et al, 11 Bobier 12 and Tavasoli 13 ), and in particular when the stability of the vehicle yaw motion has to be analysed, phase plane analysis was performed. This was carried out when control of the electronic stability program was taken into account.…”

Section: Introductionmentioning

confidence: 99%

Investigation of the tyre characteristics under non-steady-state conditions on the basis of road tests

Sar

Reński

Pokorski

2016

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper presents a method of identifying the dynamic characteristics of tyres for non-steady-state conditions on the basis of road measurements on a vehicle. The side force acting on the tyre is presented as a function of not only the slip angle but also the slip angle derivative (i.e. the velocity of the change in the slip angle). Hence, the influence of the manoeuvre dynamics on the tyre characteristics and the difference between the characteristics obtained for steady-state conditions and the characteristics for non-steady-state conditions are shown. Also the results of computer simulations prepared for different types of tyre characteristics are presented in this paper. It is evident from the presented graphs that applying dynamic non-linear tyre characteristics for computer simulations instead of steady-state characteristics enables us to describe the real motion of a vehicle better.

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Sliding surface vehicle envelope control: A cooperative design between controller and envelope

Cited by 4 publications

References 10 publications

Vehicle Steady Drifting Control with Safety Boundary Constraints

Vehicle Steady Drifting Control with Safety Boundary Constraints

Lane‐keeping control based on an improved artificial potential method and coordination of steering/braking systems

Investigation of the tyre characteristics under non-steady-state conditions on the basis of road tests

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